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Unnon97/README.md

Hi there 👋, My name is Dheeraj and here is some information about me:

Currently looking for a full-time opportunity in robotics software: perception and sensor fusion systems in mobile robots and manipulation. I am also interested in working on real-world problems using computer vision algorithms for different fields of applications.

Current personal projects:

  • Application of Moveit in ROS2 to understand skills and its use for extracting object information for manipulation
  • Using VIO and behaviour trees for robot perception, navigation, and action planning in mobile manipulators

Recent Work

  • Implementing BundleSDF on industrial parts with irregular object geometry for optimal object pose extraction.
  • Experimenting with vision pipelines for use in a Voxposer setup
  • Replicating OwlVit algorithm for an industrial use case.
  • Completed my Master's Thesis at Fraunhofer IPA, Stuttgart on Combining Vision, Force Control and Reinforcement Learning for the task of gear assembly
  • Developed a multimodal system in the perception of a robot manipulator in an assembly line.
  • Created a data-efficient system capable of training the Reinforcement Learning model quickly with quick deployability

My Career Interest

I am interested in using learning-based systems with scene understanding for robots like mobile manipulators in inspection and disaster rescue. To this end, I have been developing my skills in manipulators, mobile robots, and robot perception through internships and personal projects.

Some of the topics I have worked on are:

  • Multi-sensor fusion
  • Visual Reinforcement Learning
  • Robot perception for navigation and manipulation
  • Optical Flow, Visual Odometry, Depth Estimation
  • Synthetic Data Generation
  • Object pose estimation
  • Mechatronic systems
  • Robot body and circuit design and prototyping

Education background

  • I am a Master Student of Robotics Systems Engineering from RWTH Aachen University, Germany
  • I completed my Bachelors Degree in Mechanical Engineering from Indian Institute of Technology, Kharagpur

Technical Experience

  • Languages: Python (Pytorch, Tensorflow, Stable Baselines, Gym, MuJoCo), C , Embedded C
  • Tools: NVIDIA Isaac, ROS, Docker, WANDB, MATLAB, LaTeX, Blender

Pinned Loading

  1. MultimodalRL_MasterThesis MultimodalRL_MasterThesis Public

    Repository providing information about my Master Thesis project developed during my work at Fraunhofer IPA

  2. MultiRobotPoseEstimation MultiRobotPoseEstimation Public

    Deep Learning based Robot Pose estimation by using self-built sythetic dataset using Nvidia Isaac Sim

    1

  3. Gesture_manipulator Gesture_manipulator Public

    A project on using gestures to move manipulator in Moveit using MTC stages

    C

  4. Object3DPose Object3DPose Public

    Pose estimation project on estimation pose of the object in frame using classical computer vision tools

    Python 1

  5. Bachelor-Thesis-Project Bachelor-Thesis-Project Public

    Code and Matlab implementation of motor control and parameter optimisation using Soft Computing

    C 1

  6. ROS_Projects ROS_Projects Public

    Self Learning projects on ROS1 and ROS2

    Python